open-rmf / open-rmf/rmf_simulation
[Feature request]: Add `GaussianNoiseModel` to slotcar to report poses with some noise
Open
Nobody has claimed this yet.
enhancement
- Dominant language
- C++
- Stars
- 21
- Forks
- 30
- PR merge metrics
- No merged PRs in 30d
Description
Before proceeding, is there an existing issue or discussion for this?
- I have done a search for similar issues and discussions.
Description
Right now slotcar always reports the exact pose of the robot model in the world. We could add some noise to the reported pose by embedding a GaussianNoiseModel to the implementation while the mean and stddev can be configured SDF params.
Implementation Considerations
No response
Alternatives
No response
Additional information
No response
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by locating slotcar’s pose-reporting implementation and reading the referenced GaussianNoiseModel.hh API. Trace how SDF parameters are handled, then verify that configurable mean and standard deviation produce noisy reported poses while preserving the existing reporting behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100